Finite time oriented team forming air vehicle cooperative control method and control system

Abstract

The invention provides a finite time oriented team forming air vehicle cooperative control method and control system. The cooperative control method includes that a navigator and n followers form a team forming system and a dynamical model of the team forming system is established; measuring states of the team forming members; designing an ESO (Expansion State Observer) and an output value; basedon output of the ESO and the states of adjacent team forming members, calculating an integral type sliding mode variable structure of an i team forming member; based on the integral type sliding mode variable structure, designing a control protocol of the i team forming member so as to realize finite time coordination of the team forming state. According to the technical scheme provided bythe invention, aiming at influences due to constraints such as non-linear items, non-matching uncertainty, directional communication and the like in a practical team forming system, based on distributive control and a finite time control theory, based on the states of the adjacent team forming members, the ESO and the sliding mode control protocol are designed separately so as to ensure that theteam forming member state converges to the neighborhood of the navigator state in finite time.

Description

technical field [0001] The present invention relates to the field of control science and technology, in particular, to a limited-time-oriented cooperative control method for formation aircraft, a limited-time-oriented formation aircraft cooperative control system, a computer device, and a computer-readable storage medium. Background technique [0002] In recent years, spacecraft formations such as small satellites have attracted great attention from experts and scholars at home and abroad due to their huge advantages and broad prospects in the fields of military reconnaissance, deep space exploration, environmental monitoring, and positioning services. research direction. For formation vehicles, convergence performance / time is a key index and an important content in the field of cooperative control. For example, in practical applications, aerospace vehicles, multi-robot systems, etc. all require the control process to end within a limited time. In addition, in many industr...

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Problems solved by technology

On the other hand, in the actual control process, the formation system is often affected by constraints such as system nonlinearity, non-matching uncertainty, and directed communication, which brings great challenges to the design and stability analysis of formation finite-time control protocols. challenge

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